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koide3 / hdl_localization

Real-time 3D localization using a (velodyne) 3D LIDAR
BSD 2-Clause "Simplified" License
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How to use an external IMU? #62

Closed ghost closed 3 years ago

ghost commented 3 years ago

Hi koide3, Thanks for your great work! I am trying to use a velodyne-16 lidar and an external IMU. Maybe I need to set up the calibration. Should I make it the same as HDL32E ?

koide3 commented 3 years ago

hdl_localization assumes that the IMU and LIDAR coordinate systems are the same, and thus cannot use an external IMU in the current form. A workaround would be to transform the input cloud before feeding it to hdl_localiation so its coordinate system becomes the same as the IMU coordinate system.

ghost commented 3 years ago

hdl_localization assumes that the IMU and LIDAR coordinate systems are the same, and thus cannot use an external IMU in the current form. A workaround would be to transform the input cloud before feeding it to hdl_localiation so its coordinate system becomes the same as the IMU coordinate system.

THANK YOU! I will try it.